Fast-Exponential Sliding Mode Control of Robotic Manipulator With Super-Twisting Method

摘要

This brief addresses the trajectory tracking problem for robotic manipulators without angular velocity measurements in the presence of parameter perturbation and torque disturbance. A novel fast terminal sliding mode surface is developed to ensure global strong robustness and fast error convergence. Then, a high-order sliding mode observer (HOSMO) is constructed to estimate unknown joints’ angular velocities and the system lumped disturbance in a finite time. Chattering avoidance can be realized via the continuous control strategy based on super-twisting method. The finite-time arrival of sliding mode surface and fast-exponential convergence of the tracking error are strictly proved based on the Lyapunov stability theory. Finally, an example of a two-link robotic manipulator is provided. From the comparison with other control strategies, the advantages of proposed method are fully demonstrated.